# US 2023/0055023 A1 · Electronic control device and vehicle control system

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- Number: US 2023/0055023 A1
- Document ID: US20230055023A1
- Status: Published application
- Kind: A1
- Application number: 17/785,783
- Filed: 2020-12-15
- Published: 2023-02-23
- Earliest claimed: 2020-01-17
- Assignees: Hitachi Astemo, Ltd.
- Applicants: Hitachi Astemo. Ltd.
- Inventors: Koichi ANDO
- Web page: https://patentgrep.com/patent/US20230055023A1

## CPC

- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/095: Predicting travel path or likelihood of collision
- G01C 21/3415: {Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents}
- G01C 21/3807: {characterised by the type of data}
- G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]}
- G08G 1/0129: {for creating historical data or processing based on historical data}
- G08G 1/0133: {for classifying traffic situation}
- G08G 1/0141: {for traffic information dissemination}
- G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map}
- G08G 1/096725: {where the received information generates an automatic action on the vehicle control}
- G08G 1/096758: {where no selection takes place on the transmitted or the received information}
- G08G 1/096775: {where the origin of the information is a central station}
- G08G 1/096827: {where the route is computed onboard}
- G08G 1/096844: {where the complete route is dynamically recomputed based on new data}
- G08G 1/164: {Centralised systems, e.g. external to vehicles}
- G08G 1/165: {for passive traffic, e.g. including static obstacles, trees}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

Provided are an electronic control device and a vehicle control system capable of reducing a calculation amount and improving reliability of a travel route of a vehicle as compared with a conventional course setting device. An electronic control device 200 is mounted on a vehicle 100. The electronic control device 200 includes a map processing device 210 connected to an external sensor 110 that recognizes an obstacle around the vehicle 100 and a position sensor 120 that acquires position information of the vehicle 100 in a manner capable of information communication. The map processing device 210 includes a storage device 212 that stores map information including travel route information of the vehicle 100. The map processing device 210 records a travel route along which the vehicle 100 avoids an obstacle in the storage device 212, classifies the obstacle into a permanent obstacle and a transient obstacle, and updates the travel route information with an avoiding route based on the travel route along which the vehicle 100 has avoided the permanent obstacle.

## Claims

### Claim 1

An electronic control device mounted on a vehicle, the electronic control device comprising:
a map processing device connected to an external sensor that recognizes an obstacle around the vehicle and a position sensor that acquires position information of the vehicle in a manner capable of information communication, wherein
the map processing device includes a storage device that stores map information including travel route information of the vehicle, records a travel route along which the vehicle avoids the obstacle in the storage device, classifies the obstacle into a permanent obstacle and a transient obstacle, and updates the travel route information with an avoiding route based on the travel route along which the vehicle has avoided the permanent obstacle.

### Claim 2 (depends on 1)

The electronic control device according to claim 1, wherein the map processing device extracts, from road information included in the map information, a two-way traffic road having no center line as a target road, calculates virtual travel routes in opposite directions to each other on a left side and a right side of the target road, and stores the virtual travel routes in the storage device as the travel route information.

### Claim 3 (depends on 2)

The electronic control device according to claim 2, wherein the map processing device records the travel route only when the vehicle is in manual driving and the vehicle is traveling on the target road, and classifies the obstacle and updates the travel route information after the vehicle leaves the target road.

### Claim 4 (depends on 1)

The electronic control device according to claim 1, wherein the map processing device generates the avoiding route by smoothing the travel route along which the vehicle has avoided the permanent obstacle.

### Claim 5 (depends on 1)

A vehicle control system comprising: the electronic control device according to claim 1; and a map information server installed outside the vehicle and connected to the electronic control device in a manner capable of information communication, wherein
the map information server includes a server storage device that stores map information including the travel route information, a communication device that communicates with the electronic control device, and a server processing device that acquires the travel route information updated from the electronic control device via the communication device and updates the travel route information stored in the server storage device.

### Claim 6 (depends on 5)

The vehicle control system according to claim 5, wherein the server processing device extracts, from road information included in the map information stored in the server storage device, a two-way traffic road having no center line as a target road, calculates virtual travel routes in opposite directions to each other on a right side and a left side of the target road, and causes the server storage device to store the virtual travel routes as the travel route information.

### Claim 7 (depends on 6)

The vehicle control system according to claim 6, wherein the map processing device of the electronic control device acquires the map information including the virtual travel route from the map information server and causes the storage device to store the map information as the map information.